RobotnixAcademy

Unit 06 · overview

Unit 6 — Workspaces and `colcon`

Unit 6 — Workspaces and colcon

Up to this point you have mostly used ROS packages installed under /opt/ros/jazzy.

Now you need a place for your packages.

/opt/ros/jazzy
   UNDERLAY
      ↓ sourced first
~/ros2_ws
   OVERLAY
      ├─ src/
      ├─ build/
      ├─ install/
      └─ log/

Lessons

  1. Underlays, Overlays, and Why Workspaces Exist
  2. Create the Workspace Structure
  3. Put Source Packages in src
  4. Resolve Dependencies With rosdep
  5. Build With colcon
  6. Read build, install, and log
  7. Source the Overlay and Prove It
  8. Diagnose Workspace and Build Failures

Artifact

A working ~/ros2_ws plus an underlay/overlay evidence trace showing what was installed, what was built locally, and what changed after sourcing.

Source attribution: adapted from the ROS 2 Jazzy workspace tutorial in Gh0stlyKn1ght/ros2_documentation, CC BY 4.0.